Fixed wing: drop temporary turn tuning settings (stacked on #11812)

docs/Fixed Wing Landing.md

@@ -20,6 +20,8 @@ This enables up to 4 different approach directions, based on the landing site an
 7. Flare: Only if a LIDAR/Rangefinder sensor is present: the motor remains switched off and the pitch angle of "Flare Pitch" is held
 8. Landing: As soon as INAV has detected the landing, it is automatically disarmed, see setting `nav_disarm_on_landing`.
 
+All turns between the approach legs are flown as coordinated FLY_BY corner cuts: the turn start is anticipated from the aircraft's actual turn radius (speed and `nav_fw_bank_angle`) so the plane rolls out already aligned on the next leg. This applies during the landing approach regardless of the configured `nav_fw_wp_turn_mode`.
+
 To activate the automatic landing, the parameter `nav_rth_allow_landing` must be set to `ALWAYS` or `FAILSAFE`. 
 
 > [!WARNING]
@@ -90,8 +92,8 @@ If WP-Tracking is not used, the Plane will head straight to the landiung locatio
 * `nav_fw_pitch2thr`: The navigation throttle modifier has to be tuned well to allow stable navigation during climbs and descents to prevent a stall. Make sure your plane maintains Ground or Airspeed, when climbing in any navigation mode. 
 The Craft should not get slower and not speed ub significantly during a navigation climb, if P2T is tuned properly. See `Fixed Wing Pitch To Throttle Tuning.md` for a full tuning procedure.
 
-* `nav_wp_radius`: This parameter might be too high if you have set up your craft with INAV 6 or INAV 7. With a too high value, the turning points for the Crosswind-Leg and Final Approach are hit too early and make it difficult for the plane to align to the runway or cut short the approach. 
-Make sure this parameter is not set greater than 1000 (cm). The better your craft and navigation system is tuned, the lower this value can be. We recommend to start with 1000 for flying wings and 800 for a Plane with Tail.
+* `nav_wp_radius`: The turning points for the Crosswind-Leg and Final Approach are calculated automatically from the aircraft's coordinated turn radius; `nav_wp_radius` does not shape the approach corners. 
+Make sure this parameter is not set greater than 1000 (cm) so approach waypoints are not detected as reached too early.
 
 * Test your Navigation-Tuning: A better Navigation-Tune will reward you with smoother and more reliable landings. To test your nav systems limit, we recommend to create a waypoint missions with many 90° turn angles with shorter and shorter tracks. 
 With this Method, you can find out how well your plane can follow a navigation path and how long it takes to align to a waypoint track. A well tuned plane should be able to pull of a WP Mission that looks like this, where the distance between WP6 and WP7 si recommended to be the minimum approach length: 

docs/Settings.md

@@ -800,6 +800,7 @@ Defines debug values exposed in debug variables (developer / debugging setting)
 | VTOL_MC_PROTECT |  |
 | TERRAIN_NAV |  |
 | ESC |  |
+| FW_TURN |  |
 
 ---
 
@@ -3706,7 +3707,7 @@ P gain of auto speed PID controller.
 
 ### nav_fw_bank_angle
 
-Max roll angle when rolling / turning in GPS assisted modes, is also restrained by global max_angle_inclination_rll
+Maximum sustained roll angle when turning in GPS assisted modes: the target bank that turn and loiter radii are planned for. Corrections may exceed it temporarily; the absolute ceiling remains max_angle_inclination_rll
 
 | Default | Min | Max |
 | --- | --- | --- |
@@ -4244,15 +4245,26 @@ Sets the maximum allowed alignment convergence angle to the waypoint course line
 
 ---
 
-### nav_fw_wp_turn_smoothing
+### nav_fw_wp_turn_max_lead_time
 
-Smooths turns during WP missions by switching to a loiter turn at waypoints. When set to ON the craft will reach the waypoint during the turn. When set to ON-CUT the craft will turn inside the waypoint without actually reaching it (cuts the corner).
+COORD_FLYBY only. Cap on how early a turn may start before the waypoint [ms]. The required lead time grows with speed and turn angle (up to ~10 s for fast models in sharp corners); a too-low cap forces late turn-ins and overshoot. Raise towards 12000 for sluggish models, lower towards 3000 to keep turns close to the waypoint.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 6000 | 3000 | 12000 |
+
+---
+
+### nav_fw_wp_turn_mode
+
+How the aircraft turns at waypoints during FW WP missions. DIRECT uses the legacy heading-PID turn. The COORD modes fly coordinated arcs of the real turn radius (from speed and nav_fw_bank_angle): COORD_FLYBY cuts the corner and passes the waypoint abeam, COORD_FLYOVER overflies the waypoint before turning onto the next leg, COORD_FLYINTO crosses the waypoint already aligned with the outbound leg (survey line entries).
 
 | Allowed Values |  |
 | --- | --- |
-| OFF | Default |
-| ON |  |
-| ON-CUT |  |
+| DIRECT |  |
+| COORD_FLYBY | Default |
+| COORD_FLYOVER |  |
+| COORD_FLYINTO |  |
 
 ---
 

docs/development/fw-turn-debugging.md

@@ -0,0 +1,59 @@
+# Fixed-wing coordinated turn debugging (`DEBUG_FW_TURN`)
+
+`set debug_mode = FW_TURN` exposes the fixed-wing coordinated WP turn system: the arc turn
+coordinator, the S sequencer (COORD_FLYOVER with path tracking / COORD_FLYINTO), the loiter
+radius stabiliser, the turn/loiter feed-forward and the energy bank guard. Values are available
+via the CLI `debug` command, the `OSD_DEBUG` element, MSP `DEBUGMSG`/`DEBUG` telemetry and
+blackbox logging.
+
+## Channels
+
+| debug[] | Value | Unit | Written by |
+|---|---|---|---|
+| 0 | Active turn/loiter radius | cm | Loiter stabiliser every cycle; overridden by the COORD_FLYBY planning radius while a corner approach is active, and by the engaged arc's radius while the coordinator flies the turn (latest writer wins) |
+| 1 | Coordinator state (see below) | – | Arc coordinator |
+| 2 | Exit course of the active arc | centideg | Arc coordinator, only while engaged |
+| 3 | Remaining heading to the exit course | centideg | Arc coordinator, only while engaged |
+| 4 | Arc bank command | centideg | Arc coordinator, only while engaged; clamped to the effective bank ceiling |
+| 5 | WP-turn roll feed-forward | centideg | Feed-forward (0 when disabled, loitering, or inside the heading deadband) |
+| 6 | Energy-guard bank ceiling | deg | Energy bank guard (sits at `max_angle_inclination_rll` unless the guard is reducing it) |
+| 7 | Roll ease time | ms | Arc coordinator, only while engaged (sizes the entry/exit ramps and the turn-start lead) |
+
+Channels 2, 3, 4 and 7 hold their last value after the arc disengages; check channel 1 to know
+whether the coordinator is active.
+
+## Channel 1: coordinator state
+
+While the arc coordinator is engaged the value is `(arc phase + 1) * 10 + S stage`; while idle
+it is the S stage alone. Two loiter states use their own values: `4` = holding, approach on the
+stock carrot guidance; `40` = loiter circle controller engaged (steady arc law holds the
+radius).
+
+Arc phase (tens digit):
+
+| Digit | Phase | Meaning |
+|---|---|---|
+| 1 | RAMP_IN | Smoothstep bank ramp onto the pre-placed circle |
+| 2 | STEADY | Coordinated arc: live feed-forward bank + radius/tangent feedback |
+| 3 | CAPTURE | Predictive roll-out onto the exit course |
+
+S stage (ones digit; 0 outside the S modes):
+
+| Digit | Stage | Meaning |
+|---|---|---|
+| 0 | – | Plain single-arc turn (COORD_FLYBY, COORD_FLYOVER tangent exit) |
+| 1 | AWAY | First arc of the S; the second arc is staged |
+| 2 | MAIN | Second arc of the S (COORD_FLYINTO: the aligned WP crossing; COORD_FLYOVER + tracking: the corner-cut onto the leg) |
+| 3 | DONE | S completed for this leg, waiting for the next leg switch |
+
+Examples: `20` = flying a plain coordinated turn; `21` = steady on the first S arc; `32` =
+rolling out of the S's second arc; `3` (idle) = S finished, coordinator handed back.
+
+## Reading a turn
+
+A healthy COORD_FLYBY corner shows: channel 1 stepping `10 → 20 → 30 → 0`, channel 4 ramping to
+the nominal bank, holding, then collapsing as channel 3 converges to 0 without overshoot. The
+hand-back happens aligned (|ch3| small) and nearly level (|ch4| < 10% of nominal). Channel 4
+pegged at channel 6 × 100 indicates the command is saturated at the flyable ceiling — expected
+briefly downwind, a problem if sustained. Channel 6 dropping below `max_angle_inclination_rll`
+means the energy guard is trading bank for climb capability.

src/main/build/debug.h

@@ -85,6 +85,7 @@ typedef enum {
     DEBUG_VTOL_MC_PROTECT,
     DEBUG_TERRAIN_NAV,
     DEBUG_ESC,
+    DEBUG_FW_TURN,
     DEBUG_COUNT // also update debugModeNames in cli.c
 } debugType_e;
 

src/main/cms/cms_menu_navigation.c

@@ -202,7 +202,7 @@ static const OSD_Entry cmsx_menuMissionSettingsEntries[] =
     OSD_SETTING_ENTRY("MULTI MISSION NUMBER", SETTING_NAV_WP_MULTI_MISSION_INDEX),
 #endif
     OSD_SETTING_ENTRY("MISSION RESTART", SETTING_NAV_WP_MISSION_RESTART),
-    OSD_SETTING_ENTRY("WP TURN SMOOTHING", SETTING_NAV_FW_WP_TURN_SMOOTHING),
+    OSD_SETTING_ENTRY("WP TURN MODE", SETTING_NAV_FW_WP_TURN_MODE),
     OSD_SETTING_ENTRY("WP TRACKING ACCURACY", SETTING_NAV_FW_WP_TRACKING_ACCURACY),
     OSD_BACK_AND_END_ENTRY,
  };

src/main/fc/cli.c

@@ -235,7 +235,8 @@ static const char *debugModeNames[DEBUG_COUNT] = {
     "VTOL_TRANSITION",
     "VTOL_MC_PROTECT",
     "TERRAIN_NAV",
-    "ESC"
+    "ESC",
+    "FW_TURN"
 };
 
 /* Sensor names (used in lookup tables for *_hardware settings and in status

src/main/fc/settings.yaml

@@ -84,7 +84,8 @@ tables:
       "VIBE", "CRUISE", "REM_FLIGHT_TIME", "SMARTAUDIO", "ACC",
       "NAV_YAW", "PCF8574", "DYN_GYRO_LPF", "AUTOLEVEL", "ALTITUDE",
       "AUTOTRIM", "AUTOTUNE", "RATE_DYNAMICS", "LANDING", "POS_EST",
-      "ADAPTIVE_FILTER", "HEADTRACKER", "GPS", "LULU", "SBUS2", "OSD_REFRESH", "VTOL_TRANSITION", "VTOL_MC_PROTECT", "TERRAIN_NAV", "ESC"]
+      "ADAPTIVE_FILTER", "HEADTRACKER", "GPS", "LULU", "SBUS2", "OSD_REFRESH", "VTOL_TRANSITION", "VTOL_MC_PROTECT", "TERRAIN_NAV", "ESC",
+      "FW_TURN"]
   - name: vtol_mc_protection_mode
     values: ["OFF", "NAV", "NAV_AND_STABILIZED"]
   - name: aux_operator
@@ -191,9 +192,9 @@ tables:
   - name: dynamic_gyro_notch_mode
     values: ["2D", "3D"]
     enum: dynamicGyroNotchMode_e
-  - name: nav_fw_wp_turn_smoothing
-    values: ["OFF", "ON", "ON-CUT"]
-    enum: wpFwTurnSmoothing_e
+  - name: nav_fw_wp_turn_mode
+    values: ["DIRECT", "COORD_FLYBY", "COORD_FLYOVER", "COORD_FLYINTO"]
+    enum: navFwWpTurnMode_e
   - name: gps_auto_baud_max
     values: [ '115200', '57600', '38400', '19200', '9600', '230400', '460800', '921600']
     enum: gpsBaudRate_e
@@ -2759,11 +2760,17 @@ groups:
         field: fw.wp_tracking_max_angle
         min: 30
         max: 80
-      - name: nav_fw_wp_turn_smoothing
-        description: "Smooths turns during WP missions by switching to a loiter turn at waypoints. When set to ON the craft will reach the waypoint during the turn. When set to ON-CUT the craft will turn inside the waypoint without actually reaching it (cuts the corner)."
-        default_value: "OFF"
-        field: fw.wp_turn_smoothing
-        table: nav_fw_wp_turn_smoothing
+      - name: nav_fw_wp_turn_mode
+        description: "How the aircraft turns at waypoints during FW WP missions. DIRECT uses the legacy heading-PID turn. The COORD modes fly coordinated arcs of the real turn radius (from speed and nav_fw_bank_angle): COORD_FLYBY cuts the corner and passes the waypoint abeam, COORD_FLYOVER overflies the waypoint before turning onto the next leg, COORD_FLYINTO crosses the waypoint already aligned with the outbound leg (survey line entries)."
+        default_value: "COORD_FLYBY"
+        field: fw.wp_turn_mode
+        table: nav_fw_wp_turn_mode
+      - name: nav_fw_wp_turn_max_lead_time
+        description: "COORD_FLYBY only. Cap on how early a turn may start before the waypoint [ms]. The required lead time grows with speed and turn angle (up to ~10 s for fast models in sharp corners); a too-low cap forces late turn-ins and overshoot. Raise towards 12000 for sluggish models, lower towards 3000 to keep turns close to the waypoint."
+        default_value: 6000
+        field: fw.wp_turn_max_lead_time
+        min: 3000
+        max: 12000
       - name: nav_auto_speed
         description: "Speed in fully autonomous modes (RTH, WP) [cm/s]. Used for WP mode when no specific WP speed set. [Multirotor only]"
         default_value: 500
@@ -3061,7 +3068,7 @@ groups:
         field: mc.slowDownForTurning
         type: bool
       - name: nav_fw_bank_angle
-        description: "Max roll angle when rolling / turning in GPS assisted modes, is also restrained by global max_angle_inclination_rll"
+        description: "Maximum sustained roll angle when turning in GPS assisted modes: the target bank that turn and loiter radii are planned for. Corrections may exceed it temporarily; the absolute ceiling remains max_angle_inclination_rll"
         default_value: 35
         field: fw.max_bank_angle
         min: 5

src/main/navigation/navigation.c

@@ -141,12 +141,12 @@ STATIC_ASSERT(NAV_MAX_WAYPOINTS < 254, NAV_MAX_WAYPOINTS_exceeded_allowable_rang
 PG_REGISTER_ARRAY(navWaypoint_t, NAV_MAX_WAYPOINTS, nonVolatileWaypointList, PG_WAYPOINT_MISSION_STORAGE, 2);
 #endif
 
-// One above upstream's respective version in both variants: this branch adds unconditional
+// Above upstream's respective version in both variants: this branch changes unconditional
 // navConfig fields on top of either struct layout
 #ifdef USE_AUTO_TRANSITION
-PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 12);
+PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 13);
 #else
-PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 9);
+PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 10);
 #endif
 
 PG_RESET_TEMPLATE(navConfig_t, navConfig,
@@ -282,7 +282,8 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
         .soaring_pitch_deadband = SETTING_NAV_FW_SOARING_PITCH_DEADBAND_DEFAULT,            // pitch angle mode deadband when Saoring mode enabled
         .wp_tracking_accuracy = SETTING_NAV_FW_WP_TRACKING_ACCURACY_DEFAULT,                // 0, improves course tracking accuracy during FW WP missions
         .wp_tracking_max_angle = SETTING_NAV_FW_WP_TRACKING_MAX_ANGLE_DEFAULT,              // 60 degs
-        .wp_turn_smoothing = SETTING_NAV_FW_WP_TURN_SMOOTHING_DEFAULT,                      // 0, smooths turns during FW WP mode missions
+        .wp_turn_mode = SETTING_NAV_FW_WP_TURN_MODE_DEFAULT,                                // COORD_FLYBY, WP mission turn mode
+        .wp_turn_max_lead_time = SETTING_NAV_FW_WP_TURN_MAX_LEAD_TIME_DEFAULT,              // 3000 ms
     }
 );
 
@@ -4524,23 +4525,33 @@ bool isWaypointReached(const fpVector3_t *waypointPos, const int32_t *waypointBe
     posControl.wpDistance = calculateDistanceToDestination(waypointPos);
 
     // Check if waypoint was missed based on bearing to waypoint exceeding given angular limit relative to initial waypoint bearing.
-    // Default angular limit = 100 degs with a reduced limit of 60 degs used if fixed wing waypoint turn smoothing option active
+    // Angular limit = 100 degs.
     uint16_t relativeBearingTargetAngle = 10000;
 
     if (STATE(AIRPLANE) && posControl.flags.wpTurnSmoothingActive) {
-        // If WP mode turn smoothing CUT option used waypoint is reached when start of turn is initiated
-        if (navConfig()->fw.wp_turn_smoothing == WP_TURN_SMOOTHING_CUT) {
-            posControl.flags.wpTurnSmoothingActive = false;
-            return true;
-        }
-        relativeBearingTargetAngle = 6000;
+        // FLY_BY turn: the waypoint is reached when the anticipated corner-cut turn is initiated
+        posControl.flags.wpTurnSmoothingActive = false;
+        return true;
     }
 
 
     if (ABS(wrap_18000(calculateBearingToDestination(waypointPos) - *waypointBearing)) > relativeBearingTargetAngle) {
         return true;
     }
 
+    /* The bearing check above settles at (180 - turn angle) once the aircraft is established on the
+     * outbound leg, so beyond a ~80 deg turn it can only fire on the brief swing next to the WP.
+     * Miss that and the WP stays active behind the aircraft, which then turns back to it. Catch the
+     * pass geometrically: the WP is behind once the aircraft crosses the plane through it normal to
+     * the inbound leg. Cannot fire early - at WP activation the aircraft sits a leg length short. */
+    if (STATE(AIRPLANE) && FLIGHT_MODE(NAV_WP_MODE)) {
+        const fpVector3_t *pos = &navGetCurrentActualPositionAndVelocity()->pos;
+        const float legRad = CENTIDEGREES_TO_RADIANS((float)*waypointBearing);
+        if ((pos->x - waypointPos->x) * cos_approx(legRad) + (pos->y - waypointPos->y) * sin_approx(legRad) >= 0.0f) {
+            return true;
+        }
+    }
+
     return posControl.wpDistance <= (navConfig()->general.waypoint_radius);
 }
 
@@ -5781,7 +5792,8 @@ static void calculateAndSetActiveWaypoint(const navWaypoint_t * waypoint)
     mapWaypointToLocalPosition(&localPos, waypoint, waypointMissionAltConvMode(waypoint->p3));
     calculateAndSetActiveWaypointToLocalPosition(&localPos);
 
-    if (navConfig()->fw.wp_turn_smoothing) {
+    // Turn anticipation (nextTurnAngle) is needed for FLY_BY and FLY_INTO; FLY_OVER flies to the WP then turns.
+    if (navConfig()->fw.wp_turn_mode != NAV_FW_WP_TURN_COORD_FLY_OVER) {
         fpVector3_t posNextWp;
         if (getLocalPosNextWaypoint(&posNextWp)) {
             int32_t bearingToNextWp = calculateBearingBetweenLocalPositions(&posControl.activeWaypoint.pos, &posNextWp);
@@ -7189,7 +7201,9 @@ static void setLandWaypoint(const fpVector3_t *pos, const fpVector3_t *nextWpPos
 {
     calculateAndSetActiveWaypointToLocalPosition(pos);
 
-    if (navConfig()->fw.wp_turn_smoothing && nextWpPos != NULL) {
+    // Landing approach always uses FLY_BY turns (clean cut onto the next approach leg),
+    // so the turn angle is set whenever a following approach waypoint exists.
+    if (nextWpPos != NULL) {
         int32_t bearingToNextWp = calculateBearingBetweenLocalPositions(&posControl.activeWaypoint.pos, nextWpPos);
         posControl.activeWaypoint.nextTurnAngle = wrap_18000(bearingToNextWp - posControl.activeWaypoint.bearing);
     } else {

src/main/navigation/navigation.h

@@ -360,10 +360,11 @@ typedef enum {
 } rthTrackbackMode_e;
 
 typedef enum {
-    WP_TURN_SMOOTHING_OFF,
-    WP_TURN_SMOOTHING_ON,
-    WP_TURN_SMOOTHING_CUT,
-} wpFwTurnSmoothing_e;
+    NAV_FW_WP_TURN_DIRECT = 0,          // legacy heading-PID turn (fallback)
+    NAV_FW_WP_TURN_COORD_FLY_BY = 1,    // corner cut: turn anticipated so the arc joins the next leg, WP passed abeam
+    NAV_FW_WP_TURN_COORD_FLY_OVER = 2,  // fly over the WP, then roll out on the tangent line to the next WP
+    NAV_FW_WP_TURN_COORD_FLY_INTO = 3,  // ease away before the WP, then cross it already aligned on the outbound course
+} navFwWpTurnMode_e;
 
 typedef enum {
     MC_ALT_HOLD_STICK,
@@ -538,7 +539,8 @@ typedef struct navConfig_s {
         uint8_t  soaring_pitch_deadband;     // soaring mode pitch angle deadband (deg)
         uint8_t  wp_tracking_accuracy;       // fixed wing tracking accuracy response factor
         uint8_t  wp_tracking_max_angle;      // fixed wing tracking accuracy max alignment angle [degs]
-        uint8_t  wp_turn_smoothing;          // WP mission turn smoothing options
+        uint8_t  wp_turn_mode;               // WP mission turn mode (navFwWpTurnMode_e: DIRECT / COORD_FLYBY / COORD_FLYOVER / COORD_FLYINTO)
+        uint16_t wp_turn_max_lead_time;      // FLY_BY: cap on how early the turn may start before the WP [ms] (dev tuning)
     } fw;
 } navConfig_t;